Functions | |
def | align (model, data) |
def | plot_traj (ax, stamps, traj, style, color, label) |
Variables | |
action | |
args = parser.parse_args() | |
ax = fig.add_subplot(111) | |
default | |
dpi | |
fig = plt.figure() | |
file = open(args.save_associations,"w") | |
first_list = associate.read_file_list(args.first_file) | |
first_stamps = first_list.keys() | |
first_xyz = numpy.matrix([[float(value) for value in first_list[a][0:3]] for a,b in matches]).transpose() | |
first_xyz_full = numpy.matrix([[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose() | |
format | |
help | |
matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference)) | |
parser = argparse.ArgumentParser(description=) | |
plot | |
rot | |
second_list = associate.read_file_list(args.second_file) | |
second_stamps = second_list.keys() | |
second_xyz = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for a,b in matches]).transpose() | |
second_xyz_aligned = rot*second_xyz+trans | |
second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for b in second_stamps]).transpose() | |
second_xyz_full_aligned = rot*second_xyz_full+trans | |
trans | |
trans_error | |
def evaluate_ate.align | ( | model, | |
data | |||
) |
Align two trajectories using the method of Horn (closed-form). Input: model -- first trajectory (3xn) data -- second trajectory (3xn) Output: rot -- rotation matrix (3x3) trans -- translation vector (3x1) trans_error -- translational error per point (1xn)
Definition at line 47 of file evaluate_ate.py.
def evaluate_ate.plot_traj | ( | ax, | |
stamps, | |||
traj, | |||
style, | |||
color, | |||
label | |||
) |
Plot a trajectory using matplotlib. Input: ax -- the plot stamps -- time stamps (1xn) traj -- trajectory (3xn) style -- line style color -- line color label -- plot legend
Definition at line 81 of file evaluate_ate.py.
evaluate_ate.action |
Definition at line 126 of file evaluate_ate.py.
evaluate_ate.args = parser.parse_args() |
Definition at line 127 of file evaluate_ate.py.
evaluate_ate.ax = fig.add_subplot(111) |
Definition at line 181 of file evaluate_ate.py.
evaluate_ate.default |
Definition at line 120 of file evaluate_ate.py.
evaluate_ate.dpi |
Definition at line 194 of file evaluate_ate.py.
evaluate_ate.fig = plt.figure() |
Definition at line 180 of file evaluate_ate.py.
evaluate_ate.file = open(args.save_associations,"w") |
Definition at line 165 of file evaluate_ate.py.
evaluate_ate.first_list = associate.read_file_list(args.first_file) |
Definition at line 129 of file evaluate_ate.py.
evaluate_ate.first_stamps = first_list.keys() |
Definition at line 143 of file evaluate_ate.py.
evaluate_ate.first_xyz = numpy.matrix([[float(value) for value in first_list[a][0:3]] for a,b in matches]).transpose() |
Definition at line 137 of file evaluate_ate.py.
evaluate_ate.first_xyz_full = numpy.matrix([[float(value) for value in first_list[b][0:3]] for b in first_stamps]).transpose() |
Definition at line 145 of file evaluate_ate.py.
evaluate_ate.format |
Definition at line 194 of file evaluate_ate.py.
evaluate_ate.help |
Definition at line 118 of file evaluate_ate.py.
evaluate_ate.matches = associate.associate(first_list, second_list,float(args.offset),float(args.max_difference)) |
Definition at line 132 of file evaluate_ate.py.
evaluate_ate.parser = argparse.ArgumentParser(description=) |
Definition at line 115 of file evaluate_ate.py.
evaluate_ate.plot |
Definition at line 194 of file evaluate_ate.py.
evaluate_ate.rot |
Definition at line 139 of file evaluate_ate.py.
evaluate_ate.second_list = associate.read_file_list(args.second_file) |
Definition at line 130 of file evaluate_ate.py.
evaluate_ate.second_stamps = second_list.keys() |
Definition at line 147 of file evaluate_ate.py.
evaluate_ate.second_xyz = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for a,b in matches]).transpose() |
Definition at line 138 of file evaluate_ate.py.
evaluate_ate.second_xyz_aligned = rot*second_xyz+trans |
Definition at line 141 of file evaluate_ate.py.
evaluate_ate.second_xyz_full = numpy.matrix([[float(value)*float(args.scale) for value in second_list[b][0:3]] for b in second_stamps]).transpose() |
Definition at line 149 of file evaluate_ate.py.
evaluate_ate.second_xyz_full_aligned = rot*second_xyz_full+trans |
Definition at line 150 of file evaluate_ate.py.
evaluate_ate.trans |
Definition at line 139 of file evaluate_ate.py.
evaluate_ate.trans_error |
Definition at line 139 of file evaluate_ate.py.